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### Step 10: Set the Multiple Arm Origin

The final step in calibrating the multiple arm system is to set the origin between the two arms. This should be done with calibrated probe files on both Arm1 and Arm2.

To set the multiple arm origin:

1. Open the Multiple Arm Calibration dialog box (Operation | Calibrate/Edit | Multiple Arm Mode).

Multiple Arm Calibration dialog box

2. Select the Origin only option.

3. In the Number of spheres to measure box, type the number of spheres you want to measure to establish the origin. If more than one sphere position is measured, PC-DMIS averages the positions to establish the origin.

4. Select the Both arms measure tool option.

5. Select the correct probe files and tips.

6. Select either the DCC calibration or Manual calibration option. If you select DCC calibration, make sure you define the correct sphere position using the Edit Calibration Positions dialog box.

7. From the List of available tools, select a tool that defines the correct diameter and orientation of the calibration tool to be measured.

8. Click the OK button.

- If you selected the Manual calibration option, PC-DMIS prompts you to measure a single point on the sphere with the multiple arms. The rest of the points are then measured in DCC mode around the sphere.

- If you selected the DCC calibration option, PC-DMIS drives the arms to the sphere positions that are defined in the Edit Calibration Positions dialog box.

WARNING: When you do this, the machine moves. To avoid injury, stay clear of the machine. To avoid hardware damage, run the machine at a slower speed.

Once you have calibrated all the probe files in multiple arm mode and set the arm to arm origin, the calibration process is complete.

After you finish your multiple arm calibration and perform a wrist calibration (see "Wrist Calibration" in the "Using a Wrist Device" chapter), you need to repeat the Origin Only wrist operation as discussed early on in "Step 8: Calibrate the Multiple Arm System".

PC-DMIS copies the Arm2 probe file, tool data, and arm to arm transformation data to the Arm2 computer. Arm2 is then capable of running on its own as if it were an extension of the Arm1 coordinate system. You also have the option of running them together in multiple arm mode. Each time you enter multiple arm mode (by selecting Operation | Enter Multiple Arm Mode), PC-DMIS synchronizes the following between the two computers:

- Probe file changes

- Wrist calibration changes

- Error map data changes

- Probe changer data

- Calibration tool data changes